# -*- mode: sh -*-

# Pre-Processing / stereo_pprc
################################################################

# Pre-alignment options
#
# Available choices are (however not all are supported by all sessions):
#    NONE       (Recommended for anything map projected)
#    EPIPOLAR   (Recommended for Pinhole Sessions)
#    HOMOGRAPHY (Recommended for ISIS and DG Sessions)
alignment-method none

# Intensity Normalization
force-use-entire-range       # Use entire input range

# Select a preprocessing filter:
#
# 0 - None
# 1 - Subtracted Mean
# 2 - Laplacian of Gaussian (recommended)
prefilter-mode 2

# Kernel size (1-sigma) for pre-processing
#
# Recommend 1.4 px for Laplacian of Gaussian
# Recommend 25 px for Subtracted Mean
prefilter-kernel-width 1.4

# Integer Correlation / stereo_corr
################################################################

# Select a cost function to use for initialization:
#
# 0 - absolute difference (fast)
# 1 - squared difference  (faster .. but usually bad)
# 2 - normalized cross correlation (recommended)
cost-mode 2

# Initialization step: correlation kernel size
corr-kernel 25 25

# Use the low-res disparity to seed the integer correlator
corr-seed-mode 0

# Padding for the low-res disparity results
corr-sub-seed-percent 0.0

# Initializaion step: correlation window size
# Order is min_H min_V max_H max_V
#corr-search -120 -120 120 120
#corr-search -80 -80 80 80
#corr-search -40 -40 40 40

# Subpixel Refinement / stereo_rfne
################################################################

# Subpixel step: subpixel modes
#
# 0 - disable subpixel correlation (fastest)
# 1 - parabola fitting (draft mode - not as accurate)
# 2 - affine adaptive window, bayes EM weighting (slower, but much more accurate)
subpixel-mode 1

# Subpixel step: correlation kernel size
subpixel-kernel 25 25

# Post Filtering / stereo_fltr
################################################################

# Fill in holes up to 100,000 pixels in size with an inpainting method
# disable-fill-holes

# Automatic "erode" low confidence pixels
rm-half-kernel 5 5
rm-min-matches 60
rm-threshold 3
rm-cleanup-passes 1

# Triangulation / stereo_tri
################################################################

# Size max of the universe in meters and altitude off the ground.
# Setting both values to zero turns this post-processing step off.
near-universe-radius 0.0
far-universe-radius 0.0
